セッションID: 1A1-P10
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
2足ヒューマノイドロボットの研究
-7自由度アームの軌道生成と物体認識-
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
The KBHR (Kanagawa Biped Humanoid Robot) that is composed of 42 DOFs have been developed. This paper describes a trajectory generation method for 7-DOF manipulators of the KBHR and a robot vision-based object recognition method. The trajectory generation method is based on numerical analysis using Jacobian pseudo-inverse and transpose matrix. In order to recognize objects, an OpenCV image processing library is used. Through an experiment recognizing an object and handing over it to a person, the effectiveness of the trajectory generation algorithm and the object recognition methods is confirmed.
